Method for effecting the synchronous control of several stepping motors

ABSTRACT

The invention is directed to a method for the synchronized control of a plurality of stepping motors SM 1 , SM 2  . . . SM n  which serve as drives in a feed system, wherein the stepping motors SM 1 , SM 2 . . . SM n  are controlled with a base frequency f a  and a cycle of the base frequency f a  is proportional to a given step length SL.  
     According to the invention, different step lengths SL 1 , SL 2  . . . SL n  are triggered with each cycle of the same base frequency f a  in the individual stepping motors SM 1 , SM 2  . . . SM n , wherein a specific step length SL 1  is associated with stepping motor SM 1 , a specific step length SL 2  is associated with stepping motor SM 2 , and so forth.  
     Accordingly, it is no longer required to provide separate control frequencies for every stepping motor. All stepping motors can now be controlled at the same frequency and only a counter unit or timer unit is required for all stepping motors of the positioning system.

[0001] The invention is directed to a method for the synchronized control of a plurality of stepping motors SM₁, SM₂ . . . SM_(n) which serve as drives in a feed system, wherein the stepping motors SM₁, SM₂ . . . SM_(n) are controlled at a base frequency f_(a) and a cycle of the base frequency f_(a) is proportional to a given step length SL.

[0002] It is known from the prior art to transform the predetermined step angle defined for a stepping motor into increments of a longitudinal movement by controlling and, on this basis, to operate positioning systems by means of which displacements of device component groups along an adjustment area or a path are carried out with high accuracy.

[0003] With a suitable arrangement of the coils and phase control of the stepping motor, a sensitive control can be achieved and, therefore, the rotational movement can be advanced in step angles which are so small that even in optical precision instruments, e.g., microscopes with zoom devices, the precise positioning of the individual zoom groups required for changing the magnification while retaining imaging sharpness is achieved.

[0004] In the current state of development, typical step angles are 3.75° in permanently excited stepping motors, 1.8° in hybrid stepping motors and 1° in variable reluctance stepping motors. Generally, spindle systems are used to transform the rotational movement into a longitudinal movement.

[0005] Positioning systems in which a component group to be displaced along a path is associated with each stepping motor have been developed for applications in zoom objectives as well as for other applications. Particularly in applications for zoom objectives, there is a need to displace the different component groups at different speeds so that, after a displacement, the zoom groups are at a predetermined distance relative to one another, which distance must be sufficient for the newly adjusted magnification and is also required for retaining the imaging sharpness. An “arrangement for direct control of the movement of a zoom system in a stereo microscope” which works on this principle in described, for example, in WO 99/60436.

[0006] In the prior art, when controlling a plurality of stepping motors belonging to a positioning system, a counter unit or timer unit is associated with each stepping motor and each path. All counter units and timer units are loaded with different frequencies and times which relate to an associated path and were calculated based on the corresponding positioning task.

[0007] The stepping motors are started together and, at the conclusion of a predetermined sequence of cycles of the base frequency or control frequency, the displacement is initiated via output units, wherein an output unit is always associated with a stepping motor. For a further, subsequent adjustment, the counter units or timer units are reloaded and started in corresponding manner.

[0008] This sequence is repeated for every new positioning preset and the component groups reach the predetermined destinations on their path each time. In so doing, the component groups are displaced over different path lengths at the same times, i.e., they achieve their target positions at different speeds which are achieved in that the individual stepping motors arc controlled with different frequencies.

[0009] Since every path also has separate acceleration profiles, particularly for the displacement of zoom groups, a positioning system constructed in this way requires a relatively large storage capacity and, consequently, a rather long calculating time.

[0010] In addition, because of the high feed speed that is required—in the present case, the maximum path deviation should be no more than 10 μm in all drives—every counter unit or timer unit comprises at least three individual counters.

[0011] In order to achieve the maximum possible adjustment speed, the stepping motor that must carry out the greatest displacement on the path associated with it is considered as the leading drive, to which all other drives which are assigned shorter feed distances are to be oriented in that they are operated more slowly.

[0012] It is clear from the description above that the relatively high expenditure on storage capacity and calculating time is due to the fact that a separate frequency is provided for each individual stepping motor of a positioning system of this type.

[0013] On this basis, it is the object of the invention to further develop a method of the type described in the beginning in such a way that it is possible to control the entire positioning system in a more economical manner while retaining a high positioning accuracy and optimal adjustment speed.

[0014] According to the invention, different step lengths SL₁, SL₂ . . . SL_(n) are triggered with each cycle of the same base frequency f_(a) in the individual stepping motors SM₁, SM₂ . . . SM_(n), wherein a specific step length SL₁ is associated with stepping motor SM₁, a specific step length SL₂ is associated with stepping motor SM₂, and so forth.

[0015] Accordingly, it is no longer required to provide separate control frequencies for every stepping motor. All stepping motors can now be controlled at the same frequency and only a counter unit or timer unit is required for all stepping motors of the positioning system.

[0016] Since every stepping motor travels over the specific step length SL₁, SL₂ . . . SL_(n) assigned to it when controlling with one and the same frequency, it is achieved in a simple manner that the individual stepping motors SM₁, SM₂ . . . SM_(n) move at different speeds and, at the conclusion of an adjusting movement, each of the component groups to be displaced has traveled over different displacement distances and has reached its target position.

[0017] In a preferred construction of the invention, stepping motor SM₁, for example, is operated at a step length SL₁ which corresponds to the whole step of the stepping motor SM₁ during a complete rotating field rotation. The stepping motor SM₁ is coupled with a component group which must travel a greater displacement distance than the other component groups when a positioning command is initiated

[0018] Smaller step lengths SL₂ . . . SL_(n) corresponding to a partial rotating field rotation are assigned to the rest of the stepping motors SM₂ . . . SM_(n).

[0019] Accordingly, the component groups coupled with these stepping motors SM₂ . . . SM_(n) travel shorter displacement distances.

[0020] The whole step length SM₁ resulting from a complete rotating field rotation is divided into a plurality of partial steps, or microsteps, as they are called, based on the fact that every position of the torque vector within a rotating field rotation is adjustable in theory by adapted control of the currents to be impressed in the individual phases. This type of control is known per se and described for example in Schörlin, F., “Controlling, regulating and driving with stepping motors [Mit Schrittmotorcn steucrn, regcin und antreiben]”, Fransisverlag 1996, second edition, 1996.

[0021] A quantity z of discrete microsteps can be generated in this way. For practical use of this effect, division of a whole step into z=100 microsteps is sufficient and is a proven basis for the configuration of positioning systems.

[0022] In this respect, one construction of the invention consists in that SL₁=k₁/z, SL₂=k₂/z . . . SL_(n)=k_(n)/z is true for step lengths SL₂ . . . SL_(n), where k₁ to k_(n) are equivalents of the microsteps to be predetermined per cycle of the base frequency f_(a).

[0023] Assuming that a whole step length corresponding to a complete rotating field rotation is assigned to stepping motor SM₁, the equivalence k₁=100 is true for stepping motor SM₁ when z=100. Consequently, when k₁=100, the specific step length SL₁ of stepping motor SM₁ is 100 microsteps or a whole step, i.e., a displacement distance corresponding to a whole step length or 100 microsteps is initiated at every control pulse or every cycle of the base frequency f_(a).

[0024] For example, if the equivalence k_(n)=25 is assigned to stepping motor SM_(n), 25/100 microsteps would be initiated via the stepping motor SM₂ while controlling at the same base frequency f_(a) per control pulse 25/100. Consequently, the speed of stepping motor SM₁ would be higher than the speed of stepping motor SM_(n) by a factor of four.

[0025] Analogously, this is also true for the rest of the stepping motors SM₂ . . . SM_(n−1) of the same positioning system when equivalents k₂ . . . k_(n−1) are assigned to them corresponding to the provided adjustment distance of the respective coupled component groups. In this way, all stepping motors SM₁, SM₂ . . . SM_(n) move at different speeds when controlling at the same base frequency f_(a) and reach the predetermined target positions simultaneously at the end of a predetermined sequence of cycles.

[0026] In a particularly preferred construction of the invention, characteristic feed positions, e.g., starting positions, reversing positions and/or stopping positions, are assigned to the individual stepping motors SM₁, SM₂ . . . SM_(n) or to the component groups to be displaced on the corresponding path, and the step lengths SL₁, SL₂ . . . SL_(n) are predetermined by equivalents k₁, k₂ . . . k_(n), depending on the distances between characteristic feed positions on a path, in such a way that the displacement between two feed positions is initiated when all stepping motors SM₁, SM₂ . . . SM_(n), are controlled with the same quantity of cycles of the base frequency f_(a).

[0027] The invention will be described more fully in the following with reference to an embodiment example. In the accompanying drawings:

[0028]FIG. 1 shows an example for the division of a whole step length into microsteps;

[0029]FIG. 2 shows an example for the control, according to the invention, of a plurality of stepping motors;

[0030]FIG. 3 shows, in comparison to FIG. 2, the control of a plurality of stepping motors within a positioning system as known in the prior art.

[0031] First, it will be explained with reference to FIG. 1 how microsteps are brought about. To this end, the torque vectors of a stepping motor are shown in FIG. 1 in the upper left-hand part of the drawing. In this case, the quarter-rotation between direction axis Y and direction axis X corresponds to a complete rotating field rotation.

[0032] This rotating field rotation should correspond to a whole step length (VSL) which is carried over to the diagram in the middle of the drawing. The microsteps result from partial rotations of the rotating field and are shown in the upper left-hand portion of the drawing as a series of diameters. For the sake of clarity, the quantity of microsteps is limited here to only z=8. Therefore, the displacement distance initiated with every microstep corresponds to an eighth of the displacement distance initiated with a whole step.

[0033] Accordingly, when the equivalence k₁=8 is assigned to the stepping motor SM₁, for example, its specific step length SL₁ follows from SL₁=k₁/z=8/8 with eight microsteps or a whole step length. Depending on the control pulse or cycle of the base frequency f_(a), a displacement distance of eight microsteps is achieved with this stepping motor SM₁.

[0034] However, a stepping motor SM₅ with an assigned equivalence k₅=4, for example, travels only half of the path, namely, four microsteps, with the same sequence of control pulses (see FIG. 1).

[0035] As a result, the stepping motors SM₁, SM₂ . . . SM_(n) travel at different speeds depending on the assigned equivalents k₁, k₂ . . . k_(n). For example, when the very precise speed gradation based on z=100 microsteps is carried out instead of z=8, it can easily be seen that a very precise positioning of the various component groups is possible according to this principle.

[0036] An example for the control, according to the invention, of a plurality of stepping motors SM₁, SM₂ . . . SM_(n) is shown in FIG. 2. In this case, a frequency generator 1 is followed by a counter unit 2 which is linked with stepping motors SM₁, SM₂ . . . SM_(n) via output units 3.1, 3.2 . . . 3.n. In this regard, the base frequency f_(a) is predetermined with the frequency generator 1 and the conversion of the base frequency f_(a) into a pulse sequence corresponding to the respective desired displacement distance of the component group is earned out by the counter unit 2 and the output of the actual currents for position control of the rotating field for every individual stepping motor SM₁, SM₂ . . . SM_(n) is carried out depending on the predetermined specific step length SL₁, SL₂ . . . SL_(n) via output units 3.1, 3.2 . . . 3.n.

[0037] The advantage of the method according to the invention will be apparent from a comparison of FIG. 2 and FIG. 3; the procedure of synchronized control according to the prior art is shown in FIG. 3. It will be seen from this comparison that, instead of a plurality of counter units 2.1, 2.2 . . . 2.n, one of which is assigned in each instance to one of the stepping motors SM₁, SM₂ . . . SM_(n) in FIG. 3, only one common counter unit 2 is needed in FIG. 2 and, therefore, in accordance with the invention.

[0038] The advantage resulting from the application of the invention essentially consists in reduced expenditure on hardware and software. Further to the described example, a synchronized through-switching signal can be used and the output units 3.1, 3.2 . . . 3.n can also be combined in one output unit which operates all motors in multiplex operation.

[0039] Further, it is advantageous that as many stepping motors as desired can be incorporated in a positioning system without a significant increase in expenditure for control.

[0040] The entire positioning system can be accelerated or decelerated by changing the base frequency f_(a) alone, wherein the quantization error remains constant. In addition, the quantization error can be calculated in a simple manner and can therefore be kept under better control.

[0041] Another substantial advantage consists in the improvement in the smooth running of all synchronized motors because the stepping output is always carried out at the same times, thus preventing overlap of the control frequencies. Because of this, the method according to the invention is also very well suited in connected with nonlinear acceleration ramps.

[0042] It follows from all of the above that the positioning system according to the invention is suitable particularly for application in zoom objectives with any desired quantity of zoom groups. 

1. Method for the synchronized control of a plurality of stepping motors SM₁, SM₂ . . . SM_(n) which serve as drives in a feed system, wherein the stepping motors SM₁, SM₂ . . . SM_(n) are controlled at a base frequency f_(a) and a cycle of the base frequency f_(a) is proportional to a given feed step length SL, characterized in that different step lengths SL₁, SL₂ . . . SL_(n) are triggered with each cycle of the same base frequency f, in the individual stepping motors SM₁, SM₂ . . . SM_(n), wherein a specific step length SL₁ is associated with stepping motor SM₁, a specific step length SL₂ is associated with stepping motor SM₂, and so forth.
 2. Method according to claim 1, characterized in that the stepping motor SM₁ is operated in whole step operation, wherein the step length given by a complete rotating field rotation in the stepping motor SM₁ is assigned to the latter as step length SL₁, while step lengths SL₂, SL₃ . . . SL_(n) corresponding to a partial rotating field rotation in the respective stepping motors SM₂, SM₃ . . . SM_(n) are assigned to the rest of the stepping motors SM₂, SM₃. . . SM_(n).
 3. Method according to claim 1 or 2, characterized in that a rotating field rotation is divided into a z microsteps and SL₁=k₁/z, SL₂=k₂/z . . . SL_(n)=k_(n)/z is true for step lengths SL₁, SL₂ . . . SL_(n), where equivalents k₁ . . . k_(n) are a measurement for the quantity of microsteps to be predetermined for a stepping motor SM₁, SM₂ . . . SM_(n).
 4. Method according to one of the preceding claims, characterized in that paths with characteristic feed positions, preferably starting positions, reversing positions and/or stopping positions, are assigned to the individual stepping motors SM₁, SM₂ . . . SM_(n) within the feed system, and the step lengths SL₁, SL₂ . . . SL_(n) and equivalents k₂, k₃ . . . k_(n), depending on the distances between characteristic feed positions on the paths, are predetermined in such a way that the feed on the paths is caused at different speeds when all stepping motors SM₁, SM₂ . . . SM_(n) are controlled with the same sequence of cycles of the base frequency f_(a), so that the characteristic feed positions are reached at the conclusion of the sequence on all paths 